In this paper, we consider an output consensus problem for a general class of nonlinear multi-agent systems without a prior knowledge of the agents' control directions. Two distributed Nussbaum-type control laws are proposed to solve the leaderless and leader-following adaptive consensus for heterogeneous multiple agents. Examples and simulations are given to verify their effectiveness.
In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given multi-agent systems, we first constructed their abstractions as the upper level and solved their average consensus problem by leveraging well-known results for single integrators. Then the control protocols for physical agents in the lower level were synthesized...
In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The dynamics of the active leader is given in a general form of linear system. The switching interconnection topology with communication delay among the agents is taken into consideration. A neighbor-based estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader, and then a distributed feedback control law is developed to achieve consensus....
Page 1